
# 测试模式
testMode = False

# 是否使用状态网络
use_state_network = False

# 是否对状态伸缩网络进行参数权重优化
network_optimize = False

# 是否使用tensorboard
use_tensorboard = True

# 是否使用环境生成缓冲
use_env_buffer = False

agent_num = 4
simple_obs_dim = 6 + 2 * 4 + 2
complex_obs_dim = 72
action_dim = 9
degree_error = 16
pursuit_distance = 100
start_distance_times = 1.5
boundary_distance = 400

# usv的最大速度
usv_max_speed = 15

# usv的最大变化角度
usv_max_roll = 4

# usv的加速度分段差
usv_max_acceleration = 0.5


# 最大逃逸速度
max_escape_speed = 4.0

# 显示信息间隔
print_info_in_terminate = False
print_internal = 1000

# 一局推演的最大时长
scenairo_max_num = 400

host = "192.168.3.14"
port = 8080
run_dir = "A4/run2"
log_dir = "../logs/"

"""下面为奖励参数设计"""

# USV自身进入围捕范围的奖励
r_cap = 5

# 其他友方USV进入围捕范围的奖励
r_help = 0

# 距离惩罚的权重和调整系数
w1 = 7.5
k1 = 0.002

# 距离一致性奖励
w2 = 10
k2 = 0.5

# 围捕角度奖励
w3 = 15
k3 = 0.05

# 围捕角度一致性奖励
w4 = 25
k4 = 0.1

# 碰撞惩罚
w5 = 0.1
k5 = 0.05


send_all_the_time = False
